US11850738B2 - Robotic leg - Google Patents
Robotic leg Download PDFInfo
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- US11850738B2 US11850738B2 US17/305,518 US202117305518A US11850738B2 US 11850738 B2 US11850738 B2 US 11850738B2 US 202117305518 A US202117305518 A US 202117305518A US 11850738 B2 US11850738 B2 US 11850738B2
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Definitions
- This disclosure relates to a robotic leg.
- the robotic leg also includes a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second pulley about the second axis of rotation. Rotation of the first leg portion about the first axis of rotation causes rotation of the second leg portion relative to the first leg portion about the second axis of rotation.
- the robotic leg further includes a rotary motor arranged to drive rotation of the first leg portion about the first axis of rotation.
- the rotary motor may define a rotary axis, and the rotary axis may be arranged coincident with the first axis of rotation.
- the rotary motor may be attached to the first leg portion and include a rotor arranged to rotate about the rotary axis.
- the rotary motor may also include a stator arranged concentrically around the rotor, the stator configured for attachment to a robot or the first pulley.
- the rotary motor may form a hip joint of the robot.
- the robotic leg includes the rotary motor arranged to drive rotation of the first pulley in the above examples
- the robotic leg includes a linear actuator disposed on the hip and having a translatable actuator arm pivotally coupled to the first leg portion.
- actuation of the translatable actuator arm of the linear actuator causes rotation of the first end portion of the first leg portion about the first axis of rotation.
- the robotic leg may also include a belt tensioner disposed on the first leg portion and in contact with the timing belt, the belt tensioner configured to adjustably set a tension of the timing belt.
- Another aspect of the disclosure provides a method of operating a robotic leg that includes rotating a first leg portion about a first axis of rotation, the first leg portion having a first end portion rotatably coupled to a first pulley, the rotation of the first leg portion causing rotation of a second pulley via a timing belt trained about the first pulley and the second pulley.
- the second pulley is rotatably coupled to a second end portion of the first leg portion and has a second axis of rotation.
- the rotation of the second pulley causes rotation of a second leg portion relative to the first leg portion about the second axis of rotation.
- the second leg portion has a first end portion and a second end portion, the first end portion of the second leg portion fixedly attached to the second pulley.
- the method also includes actuating a rotary motor arranged to drive the rotation of the first leg portion about the first axis of rotation.
- the rotary motor may define a rotary axis, and the rotary axis may be arranged coincident with the first axis of rotation.
- the rotary motor may include a rotor attached to the first leg portion and arranged to rotate about the rotary axis.
- the rotary motor may include a stator arranged concentrically around the rotor, the stator configured for attachment to a robot or the first pulley.
- Another aspect of the disclosure provides a method of operating a robotic leg that includes a first leg portion having a first end portion and a second end portion, and a second leg portion having a first end portion and a second end portion.
- the first end portion of the first leg portion has a first axis of rotation and the second end portion of the first leg portion has a second axis of rotation.
- the first end portion of the second leg portion is rotatably coupled to the second end portion of the first leg portion for rotation about the second axis of rotation.
- the method also includes coupling rotation of the first leg portion about the first axis of rotation to rotation of the second leg portion about the second axis of rotation, the coupling causing a 2:1 ratio of the rotation of the second leg portion about the second axis of rotation to the rotation of the first leg portion about the first axis of rotation.
- the robotic leg also includes a coupler coupling rotation of the first leg portion about the first axis of rotation to rotation of the second leg portion about the second axis of rotation, the coupling causing a 2:1 ratio of the rotation of the second leg portion about the second axis of rotation to the rotation of the first leg portion about the first axis of rotation.
- the robotic leg further includes a first pulley rotatably coupled to the first end portion of the first leg portion.
- a second pulley is rotatably coupled to the second end portion of the first leg portion, and a timing belt is trained about the first pulley and the second pulley.
- the first pulley defines the first axis of rotation and the second pulley defines the second axis of rotation.
- the timing belt synchronizes rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation.
- a robotic leg in yet another aspect of the disclosure, includes a first leg portion having a first end portion and a second end portion, a first pulley fixedly attached to the first end portion of the first leg portion, a second pulley rotatably coupled to the second end portion of the first leg portion, and a second leg portion having a first end portion and a second end portion.
- the first pulley defines a first axis of rotation
- the second pulley defines a second axis of rotation
- the first end portion of the second leg portion is fixedly attached to the second pulley.
- the robotic leg further includes a rotary motor arranged to drive rotation of the first pulley about the first axis of rotation.
- the rotary motor may define a rotary axis, and the rotary axis may be arranged coincident with the first axis of rotation.
- the rotary motor may be attached to the first pulley and include a rotor arranged to rotate about the rotary axis.
- the rotary motor may also include a stator arranged concentrically around the rotor, the stator configured for attachment to a robot or the first end portion of the first portion of the leg.
- the rotary motor may form a hip joint of the robot.
- the robotic leg includes the rotary motor arranged to drive rotation of the first pulley in the above examples
- the robotic leg includes a hip rotatably coupled to the first pulley and a linear actuator disposed on the hip and having a translatable actuator arm pivotally coupled to the first leg portion.
- actuation of the translatable actuator arm of the linear actuator causes rotation of the first pulley fixedly attached to the first end portion of the first leg portion about the first axis of rotation.
- the robotic leg may also include a belt tensioner disposed on the first leg portion and in contact with the timing belt, the belt tensioner configured to adjustably set a tension of the timing belt.
- FIG. 1 A is schematic view of an example robot.
- FIGS. 1 D and 1 E are schematic views showing an example robot having two appendages disposed on an inverted pendulum body.
- FIG. 2 is a schematic view of an example robot.
- FIG. 3 is a schematic view of an example robot.
- FIG. 5 is a schematic view of the first leg portion (upper portion) of the example robotic leg of FIG. 4 .
- FIG. 6 A is a schematic view of a rotary motor arranged to drive rotation of a first pulley fixedly attached to the first leg portion (upper portion) of the example robotic leg of FIG. 4 .
- FIGS. 7 A- 7 D are schematic views of an example variable length leg prismatically moving from a fully expanded position to a fully retracted position.
- FIG. 8 is a schematic view of an example computing device.
- a robot 100 , 100 a includes an inverted pendulum body (IPB) 200 , a counter-balance body 300 disposed on the IPB 200 , at least one leg 400 having a first end 410 coupled to the IPB 200 and a second end 420 , and a drive wheel 700 rotatably coupled to the second end 420 of the at least one leg 400 .
- the robot 100 has a vertical gravitational axis V g ( FIGS. 1 B and 1 C ) along a direction of gravity, and a center of mass CM, which is a point where the robot 100 has a zero sum distribution of mass.
- the robot 100 further has a pose P based on the CM relative to the vertical gravitational axis V g to define a particular attitude or stance assumed by the robot 100 .
- the attitude of the robot 100 can be defined by an orientation or an angular position of an object in space.
- the IPB 200 has first and second end portions 210 , 220 and may be interchangeably referred to as a torso 200 for the robot 100 .
- the IPB 200 may define a length between a first end 212 associated with the first end portion 210 and a second end 222 associated with the second end portion 220 .
- a point of delineation separating the first and second end portions 210 , 220 is at a midpoint between the first end 212 and the second end 222 , so that the first end portion 210 encompasses 50-percent of the length of the IPB 200 and the second end portion 220 encompasses the remaining 50-percent of the length of the IPB 200 .
- the point of delineation separating the first and second end portions 210 , 220 of the IPB 200 is closer to one of the first end 212 or the second end 222 so that one of the first end portion 210 or the second end portion 220 extends along a larger portion of the length of the IPB 200 than the other one of the first end portion 210 or the second end portion 220 .
- first end portion 210 extending from the first end 212 may encompass 90-, 80-, 70-, 60-, 40-, 30-, 20-, 10-percent of the length of the IPB 200 while the second end portion 220 extending from the second end 222 may encompass the remaining 10-, 20-, 30-, 60-, 70-, 80-, 90-percent of the length of the IPB 200 .
- the counter-balance body 300 is disposed on the first end portion 210 of the IPB 200 and configured to move relative to the IPB 200 .
- the counter-balance body 300 may be interchangeably referred to as a tail 300 .
- a back joint bk, 350 may rotatably couple the counter-balance body 300 to the first end portion 210 of the IPB 200 to allow the counter-balance body 300 to rotate relative to the IPB 200 .
- the back joint bk, 350 supports the counter-balance body 300 to allow the counter-balance body 300 to move/pitch around a lateral axis (y-axis) that extends perpendicular to the gravitational vertical axis V g and a fore-aft axis (x-axis) of the robot 100 .
- the fore-aft axis (x-axis) may denote a present direction of travel by the robot 100 .
- the counter-balance body 300 has a longitudinal axis LCBB extending from the back joint bk, 350 and is configured to pivot at the back joint bk, 350 to move/pitch around the lateral axis (y-axis) relative to the IPB 200 (in both the clockwise and counter-clockwise directions relative to the view shown in FIG. 1 B ).
- the back joint bk, 350 may be referred to as a pitch joint.
- the pose P of the robot 100 may be defined at least in part by a rotational angle ⁇ CBB of the counter-balance body 300 relative to the vertical gravitational axis V g .
- the counter-balance body 300 may generate/impart a moment ⁇ CBB (rotational force) at the back joint bk, 350 based on the rotational angle ⁇ CBB of the counter-balance body 300 relative to the vertical gravitational axis V g .
- movement by the counter-balance body 300 relative to the IPB 200 alters the pose P of the robot 100 by moving the CM of the robot 100 relative to the vertical gravitational axis V g .
- a rotational actuator 352 e.g., a tail actuator
- the rotational actuator 352 may include an electric motor, electro-hydraulic servo, piezo-electric actuator, solenoid actuator, pneumatic actuator, or other actuator technology suitable for accurately effecting movement of the counter-balance body 300 relative to the IPB 200 .
- the rotational movement by the counter-balance body 300 relative to the IPB 200 alters the pose P of the robot 100 for balancing and maintaining the robot 100 in an upright position.
- rotation by the counter-balance body 300 relative to the gravitational vertical axis V g generates/imparts the moment M CBB at the back joint bk, 350 to alter the pose P of the robot 100 .
- the CM of the robot 100 moves relative to the gravitational vertical axis Vg to balance and maintain the robot 100 in the upright position in scenarios when the robot 100 is moving and/or carrying a load.
- the counter-balance body 300 includes a corresponding mass that is offset from the moment M CBB imparted at the back joint bk, 350 .
- a gyroscope disposed at the back joint bk, 350 could be used in lieu of the counter-balance body 300 to spin and impart the moment M CBB (rotational force) for balancing and maintaining the robot 100 in the upright position.
- the counter-balance body 300 may rotate (e.g., pitch) about the back joint bk, 350 in both the clockwise and counter-clockwise directions (e.g., about the y-axis in the “pitch direction” relative to the view shown in FIG. 1 C ) to create an oscillating (e.g., wagging) movement.
- the counter-balance body 300 may move/pitch about the lateral axis (y-axis) in a first direction (e.g., counter-clockwise direction) from a first position (solid lines) associated with longitudinal axis L CBB1 , having a first rotational angle ⁇ CBB1 relative to the vertical gravitation axis V g , to a second position (dashed lines) associated with longitudinal axis L CBB2 , having a second rotational angle ⁇ CBB2 relative to the vertical gravitation axis V g .
- Movement by the counter-balance body 300 relative to IPB 200 from the first position to the second position causes the CM of the robot 100 to shift and lower toward the ground surface 12 .
- the counter-balance body 300 may also move/pitch about the lateral axis (y-axis) in an opposite second direction (e.g., clockwise direction) from the second position (dashed lines) back to the first position or another position either before or beyond the first position. Movement by the counter-balance body 300 relative to the IPB 200 in the second direction away from the second position (dashed lines) causes the CM of the robot 100 to shift and raise away from the ground surface 12 .
- second direction e.g., clockwise direction
- the longitudinal axis LCBB of the counter-balance body 300 is coincident with the vertical gravitational axis V g .
- the counter-balance body 300 may oscillate between movements in the first and second directions to create the wagging movement.
- the rotational velocity of the counter-balance body 300 when moving relative to the IPB 200 may be constant or changing (accelerating or decelerating) depending upon how quickly the pose P of the robot 100 needs to be altered for dynamically balancing the robot 100 .
- the first position (solid lines) associated with L CBB1 and the second position (dashed lines) associated with L CBB1 of the counter-balance body 300 of FIG. 1 C are depicted as exemplary positions only, and are not intended to represent a complete range of motion of the counter-balance body 300 relative to the IPB 200 .
- the counter-balance body 300 may move/pitch around the lateral axis (y-axis) in the first direction (e.g., counter-clockwise direction) to positions having rotational angles ⁇ CBB greater than the second rotational angle ⁇ CBB2 associated with the second position (dashed lines) and/or in the second direction (e.g., clockwise direction) to positions having rotational angles ⁇ CBB less than the first rotational angle ⁇ CBB1 associated with the first position (solid lines).
- the counter-balance body 300 may move/pitch around the lateral axis (y-axis) relative to the IPB 200 at any position between the first position (solid lines) and the second position (dashed lines) shown in FIG. 1 C .
- the at least one leg 400 includes a right leg 400 a and a left leg 400 b .
- the right leg 400 a includes a corresponding first end 410 , 410 a rotatably coupled to the second end portion 220 of the IPB 200 and a corresponding second end 420 , 420 a rotatably coupled to a corresponding right drive wheel 700 , 700 a .
- a right hip joint 412 may rotatably couple the first end 410 a of the right leg 400 a to the second end portion 220 of the IPB 200 to allow at least a portion of the right leg 400 a to move/pitch around the lateral axis (y-axis) relative to the IPB 200 .
- An actuating device 600 associated with the hip joint 412 may cause an upper portion 500 , 500 a of the right leg 400 a to move/pitch around the lateral axis (y-axis) relative to the IPB 200 .
- the right leg 400 a includes the corresponding upper portion 500 , 500 a and a corresponding lower portion 550 , 550 a .
- the upper portion 500 a may extend from the hip joint 412 at the first end 410 a to a corresponding knee joint 414 and the lower portion 550 a may extend from the knee joint 414 to the second end 420 a.
- the axle torque T a may cause the right drive wheel 700 a to rotate in a first direction for moving the robot 100 in a forward direction along the fore-aft axis (x-axis) and/or cause the right drive wheel 700 a to rotate in an opposite second direction for moving the robot 100 in a rearward direction along the fore-aft axis (x-axis).
- the left leg 400 b similarly includes a corresponding first end 410 , 410 b rotatably coupled to the second end portion 220 of the IPB 200 and a corresponding second end 420 , 420 b rotatably coupled to a corresponding left drive wheel 700 , 700 b .
- a corresponding hip joint 412 may rotatably couple the first end 410 b of the left leg 400 b to the second end portion 220 of the IPB 200 to allow at least a portion of the left leg 400 b to move/pitch around the lateral axis (y-axis) relative to the IPB 200 .
- a corresponding actuating device 600 associated with the left hip joint 412 may cause a corresponding upper portion 500 , 500 b of the left leg 400 b to move/pitch around the lateral axis (y-axis) relative to the IPB 200 .
- the left leg 400 b may include the corresponding upper portion 500 , 500 b and a corresponding lower portion 550 , 550 b .
- the upper portion 500 b may extend from the hip joint 412 at the first end 410 b to a corresponding knee joint 414 and the lower portion 550 b may extend from the knee joint 414 to the second end 420 b.
- the left leg 400 b may include a corresponding left ankle joint 422 , 422 b configured to rotatably couple the left drive wheel 700 b to the second end 420 b of the left leg 400 b .
- the left ankle joint 422 b may be associated with a wheel axle coupled for common rotation with the left drive wheel 700 b and extending substantially parallel to the lateral axis (y-axis).
- the left drive wheel 700 b may include a corresponding torque actuator (e.g., drive motor) 710 b configured to apply a corresponding axle torque T a for rotating the left drive wheel 700 b about the ankle joint 422 b to move the left drive wheel 700 b across the ground surface 12 along the fore-aft axis (x-axis).
- a corresponding torque actuator e.g., drive motor
- T a corresponding axle torque T a for rotating the left drive wheel 700 b about the ankle joint 422 b to move the left drive wheel 700 b across the ground surface 12 along the fore-aft axis (x-axis).
- the axle torque T a may cause the left drive wheel 700 b to rotate in the first direction for moving the robot 100 in the forward direction along the fore-aft axis (x-axis) and/or cause the left drive wheel 700 b to rotate in the opposite second direction for moving the robot 100 in the rearward direction along the fore-aft axis (x-axis).
- the corresponding axle torques T a applied to each of the drive wheels 700 a , 700 b may vary to maneuver the robot 100 across the ground surface 12 .
- an axle torque T aR applied to the right drive wheel 700 a that is greater than an axle torque T aL applied to the left drive wheel 700 b may cause the robot 100 to turn to the left
- a greater axle torque T a to the left drive wheel 700 b than to the right drive wheel 700 a may cause the robot 100 to turn to the right.
- applying substantially the same magnitude of axle torque T a to each of the drive wheels 700 a , 700 b may cause the robot 100 to move substantially straight across the ground surface 12 in either the forward or reverse directions.
- each leg 400 has a variable length extending between the first and second ends 410 , 420 of the corresponding leg 400 .
- the lower portion 550 of each leg 400 may rotate relative to the corresponding upper portion 500 about the knee joint 414 to enable the leg 400 to retract and expand.
- rotation by the lower portion 550 about the knee joint 414 relative to the upper portion 500 in the counter-clockwise direction may cause the leg 400 to retract.
- the upper portion 500 may rotate about the hip joint 412 relative to the IPB 200 in the clockwise direction to cause the leg 400 to retract.
- the leg 400 may expand.
- retracting the length of the leg 400 may cause a height of the corresponding leg 400 with respect to the ground surface 12 to reduce while expanding the length of the leg 400 may cause the height of the corresponding leg 400 with respect to the ground surface 12 to increase.
- the height of the leg 400 is defined as a distance along the vertical axis (z-axis) between the ground surface 12 (or the corresponding ankle joint 422 ) supporting the robot 100 and the corresponding knee joint 414 .
- the height of the leg 400 is defined as a distance along the vertical axis (z-axis) between the ground surface 12 (or the corresponding ankle joint 422 ) and the corresponding hip joint 412 rotatably coupling the corresponding first end 410 of the leg 400 to the second end portion 220 of the IPB 200 .
- an increase to the overall height of the robot 100 may be required to reach or place a target object on a shelf Altering the height of the robot 100 simultaneously alters the pose P, and may cause substantive shifts in the CM of the robot 100 that require actuation of the counter-balance body 300 to move relative to the IPB 200 to maintain balance of the robot 100 .
- the heights of the legs 400 may be dynamically controlled to target heights to assist with turning maneuvers as the robot 100 traverses along the ground surface 12 . For instance, dynamically adjusting the height of each leg 400 independently from one another may allow the robot 100 to lean and bank into turns, thereby enhancing maneuverability of the robot 100 while traversing across the ground surface 12 .
- the actuators 852 , 862 , 872 may be controlled independently of one another to move the corresponding portions 801 , 802 , 803 alone or in concert for positioning the end effector 900 on a target object and/or altering the pose P of the robot 100 .
- the robot 100 includes left and right appendages (e.g., two articulated arms) 800 a , 800 b each disposed on the IPB 200 and configured to move relative to the IPB 200 .
- the appendages 800 a , 800 b may be disposed on the first end portion 210 of the IPB 200 or the second end portion 220 of the IPB 200 .
- each appendage 800 a , 800 b extends between a respective proximal first end 810 and a respective distal second end 820 , and the first end 810 connects to the IPB 200 at a corresponding first articulated arm joint J 0 850 .
- FIG. 1 D shows the appendages 800 a , 800 b each having the corresponding first and second portions 801 , 802 extending substantially parallel to one another and away from the IPB 200 , while the corresponding third portion 803 extends substantially perpendicular to the first and second portions 801 , 802 to point the corresponding distal second end 820 downward toward the ground surface 12 .
- the position of the appendages 800 a , 800 b may align the end effectors 900 and associated actuators 902 to grasp and carry an object.
- the appendages 800 a , 800 b could also point downward as shown in FIG. 1 D for adjusting the moment of inertia about the vertical z-axis to assist with turning maneuvers.
- FIG. 1 D shows the appendages 800 a , 800 b each having the corresponding first and second portions 801 , 802 extending substantially parallel to one another and away from the IPB 200 , while the corresponding third portion 803 extends substantially perpendicular to the first and second
- FIG. 1 E shows the appendages 800 a , 800 b fully extended/deployed outward from the IPB 200 with each appendage 800 a , 800 b having the corresponding portions 801 , 802 , 803 substantially aligned with one another and extending substantially parallel to the ground surface 12 .
- the robot 100 may fully extend one or both of appendages 800 a , 800 b as shown in FIG. 1 E for adjusting the moment of inertia about the vertical z-axis.
- the controller 102 corresponds to data processing hardware that may include one or more general purpose processors, digital signal processors, and/or application specific integrated circuits (ASICs). In some implementations, the controller 102 is a purpose-built embedded device configured to perform specific operations with one or more subsystems of the robot 100 .
- the memory hardware 104 is in communication with the controller 102 and may include one or more non-transitory computer-readable storage media such as volatile and/or non-volatile storage components. For instance, the memory hardware 104 may be associated with one or more physical devices in communication with one another and may include optical, magnetic, organic, or other types of memory or storage.
- the memory hardware 104 is configured to, inter alia, store instructions (e.g., computer-readable program instructions), that when executed by the controller 102 , cause the controller to perform numerous operations, such as, without limitation, altering the pose P of the robot 100 for maintaining balance, maneuvering the robot 100 across the ground surface 12 , transporting objects, and/or executing a sit-to-stand routine.
- the controller 102 may directly or indirectly interact with the inertial measurement unit 106 , the actuators 108 , the sensor(s) 110 , and the power source(s) 112 for monitoring and controlling operation of the robot 100 .
- the inertial measurement unit 106 is configured to measure an inertial measurement indicative of a movement of the robot 100 that results in a change to the pose P of the robot 100 .
- the inertial measurement measured by the inertial measurement unit 106 may indicate a translation or shift of the CM of the robot 100 relative to the vertical gravitational axis V g .
- the translation or shift of the CM may occur along one or more of the fore-aft axis (x-axis), the lateral axis (y-axis), or the vertical axis (z-axis).
- the inertial measurement unit 106 may detect and measure an acceleration, a tilt, a roll, a pitch, a rotation, or yaw of the robot 100 , as the inertial measurement, using an initial pose P as an inertial reference frame.
- the inertial measurement unit 106 may include at least one of a tri-axial accelerometer, a tri-axial magnetometer, or a tri-axial gyroscope.
- the tri-axial accelerometer includes circuitry to sense the movement of the robot 100 between poses along a straight line or an axis, such as a position and an orientation of the inertial measurement unit 106 .
- the accelerometer may use a mass-spring system or a vibration system configured to determine an acceleration corresponding to a displacement of a mass in the mass-spring system or a stress related to a vibration in the vibration system.
- the inertial measurement unit 106 may also include a gyroscope, such as the tri-axial gyroscope, to measure a rate of rotation about a defined axis.
- the gyroscope is configured to sense rotation of the inertial measurement unit 106 such that a sensed rotation is a portion of the inertial measurement output to the controller 102 .
- the controller 102 receives the inertial measurement of the inertial measurement unit 106 and determines shifts in the CM of the robot 100 relative to the vertical gravitational axis V g .
- the gyroscope senses rotations of the robot 100 as the robot 100 moves with the gyroscope.
- the inertial measurement unit 106 may include more than one of the tri-axial accelerometer, the tri-axial magnetometer, or the tri-axial gyroscope to increase accuracy of the inertial measurement unit 106 .
- the inertial measurement unit 106 produces three dimensional measurements of a specific force and an angular rate.
- the inertial measurement unit 106 may also include a microprocessor.
- the controller 102 is configured to process data relating to the inertial measurement unit 106 , the actuators 108 , and the sensor(s) 110 for operating the robot 100 .
- the controller 102 receives an inertial measurement from the inertial measurement unit 106 (e.g., via a wired or wireless connection) disposed on the robot 100 and instructs actuation of at least one of the actuators 108 to alter a pose P of the robot 100 to move the CM of the robot 100 relative to the vertical gravitational axis V g .
- the controller 102 identifies changes in the inertial measurements between poses P and defines movements by at least one of the counter-balance body 300 or the articulated arm 800 for maintaining balance of the robot 100 by moving the CM relative to the vertical gravitational axis V g .
- the controller 102 may instruct actuation of the manipulator head actuator 852 to move/pitch the manipulator head 800 about the lateral axis (y-axis) relative to the torso 200 .
- the controller 102 actuates the manipulator head actuator 852 to operate the manipulator head 800 as a second counter-balance body for altering the pose P of the robot 100 by moving the CM of the robot 100 relative to the vertical gravitational axis V g .
- the controller 102 may additionally or alternatively instruct actuation of at least one of the actuator 862 corresponding to the second articulated arm joint (e.g., second manipulator head joint) J 1 860 or the actuator 862 corresponding to the third articulated arm joint (e.g., third manipulator head joint) J 2 870 for moving at least one of the portions 801 , 802 , 803 of the manipulator head relative to one another and relative to the torso 200 .
- Each actuating device 600 (disposed at or near the corresponding hip joint 412 ) is configured to rotate the upper portion 500 of the respective leg 400 relative to the torso 200 .
- the controller 102 may instruct actuation of the actuating device 600 associated with the right hip joint 412 to cause the upper portion 500 a of the prismatic right leg 400 a to move/pitch around the lateral axis (y-axis) relative to the torso 200 .
- the controller 102 may instruct actuation of the actuating device 600 associated with the left hip joint 412 to cause the upper portion 500 b of the left leg 400 b to move/pitch around the lateral axis (y-axis) relative to the torso 200 .
- Each drive motor 710 is configured to apply the corresponding axle torque ( FIG. 1 B ) for rotating the respective drive wheel 700 about the corresponding ankle joint 422 to move the drive wheel 700 across the ground surface 12 along the fore-aft axis (x-axis).
- the axle torque T a may cause the drive wheel 700 to rotate in a first direction for moving the robot 100 in a forward direction along the fore-aft axis (x-axis) and/or cause the drive wheel 700 to rotate in an opposite second direction for moving the robot 100 in a rearward direction along the fore-aft axis (x-axis).
- the controller 102 may instruct actuation of each drive motor 710 via a corresponding axle torque command T a_cmd that specifies a magnitude and direction of axle torque T a for the drive motor 710 to apply for rotating the respective drive wheel 700 in the forward or backward direction. Based on the inertial measurement received from the inertial measurement unit 106 , the controller 102 may provide a corresponding axle torque command T a_cmd to at least one of the drive motors 710 to instruct the drive motor 710 to apply the corresponding axle torque T a in order to control tilt to maintain or restore balance of the robot 100 .
- the sensor data includes rotational positions of the back joint bk, 350 , the hip joint(s) 412 , and/or the articulated arm joints J 0 850 , J 1 860 , J 2 870 used to indicate a state of at least one of the counter-balance body 300 , the at least one leg 400 , the articulated arm 800 , or the end effector 900 .
- the control system 10 employs one or more force sensors to measure load on the actuators that move the counter-balance body 300 , the at least one leg 400 , the drive wheel 700 rotatably coupled to the at least one leg 400 , the articulated arm 800 , or the end effector 900 .
- the sensors 110 may further include position sensors to sense states of extension, retraction, and/or rotation of the counter-balance body 300 , the at least one leg 400 , the drive wheel 700 rotatably coupled to the at least one leg 400 , the articulated arm 800 , or the end effector 900 .
- Other sensors 110 may capture sensor data corresponding to the terrain of the environment and/or nearby objects/obstacles to assist with environment recognition and navigation.
- some sensors 110 may include RADAR (e.g., for long-range object detection, distance determination, and/or speed determination) LIDAR (e.g., for short-range object detection, distance determination, and/or speed determination), VICON® (e.g., for motion capture), one or more imaging (e.g., stereoscopic cameras for 3D vision), perception sensors, a global positioning system (GPS) device, and/or other sensors for capturing information of the environment in which the robot 100 is operating.
- RADAR e.g., for long-range object detection, distance determination, and/or speed determination
- LIDAR e.g., for short-range object detection, distance determination, and/or speed determination
- VICON® e.g., for motion capture
- imaging e.g., stereoscopic cameras for 3D vision
- perception sensors e.g., stere
- a robot 100 b includes an inverted pendulum body (IPB) 200 , a counter-balance body 300 disposed on the IPB 200 , at least one leg 400 having a first end 410 and a second end 420 , and a drive wheel 700 rotatably coupled to the second end 420 of the at least one leg 400 .
- IPB inverted pendulum body
- a counter-balance body 300 disposed on the IPB 200
- at least one leg 400 having a first end 410 and a second end 420
- a drive wheel 700 rotatably coupled to the second end 420 of the at least one leg 400 .
- the robot 100 b has a vertical gravitational axis V g , which is perpendicular to a ground surface 12 along a direction of gravity, and a center of mass CM, which is a point where the robot 100 has a zero sum distribution of mass.
- the robot 100 further has a pose P based on the CM relative to the vertical gravitational axis V g to define a particular attitude or stance assumed by the robot 100 .
- the attitude of the robot 100 can be defined by an orientation or an angular position of an object in space.
- the at least one leg 400 of the robot 100 b may include the variable length right and left legs 400 a , 400 b each including a corresponding first end 410 rotatably/prismatically coupled to the second end portion 220 of the IPB 200 and a corresponding second end 420 rotatably coupled to a corresponding right drive wheel 700 a , 700 b .
- the robot 100 b may employ various actuators for altering the lengths of the legs 400 a , 400 b . For instance, a length/height of at least one of the legs 400 a , 400 b may be altered to lean the drive wheels 700 a , 700 b into a turning direction to assist with a turning maneuver.
- the articulated arm 800 may pitch about the lateral axis (y-axis) relative to the IPB 200 .
- the articulated arm may rotate about the lateral axis (y-axis) relative to the IPB 200 in the direction of gravity to lower the CM of the robot 100 while executing turning maneuvers.
- the counter-balance body 300 may also simultaneously rotate about the lateral axis (y-axis) relative to the IPB 200 in the direction of gravity to assist in lowering the CM of the robot 100 b .
- a robot 100 c includes an inverted pendulum body (IPB) 200 , a counter-balance body 300 disposed on the IPB 200 , at least one leg 400 having a first end 410 and a second end 420 , and a drive wheel 700 rotatably coupled to the second end 420 of the at least one leg 400 .
- IPB inverted pendulum body
- a counter-balance body 300 disposed on the IPB 200
- at least one leg 400 having a first end 410 and a second end 420
- a drive wheel 700 rotatably coupled to the second end 420 of the at least one leg 400 .
- the IPB 200 includes the first end portion 210 and the second end portion 220 . While the counter-balance body 300 of the robot 100 a of FIGS. 1 A- 1 E is disposed on the first end portion 210 of the IPB 200 , the counter-balance body 300 of the robot 100 c of FIG. 3 is disposed on the second end portion 220 of the IPB 200 .
- the at least one leg 400 of the robot 100 c may include the variable length right and left legs 400 a , 400 b each including a corresponding first end 410 rotatably coupled to the second end portion 220 of the IPB 200 and a corresponding second end 420 rotatably coupled to a corresponding right drive wheel 700 a , 700 b .
- the robot 100 c may employ various actuators for altering the lengths of the legs 400 a , 400 b . For instance, a length/height of at least one of the legs 400 a , 400 b may be altered to lean the drive wheels 700 a , 700 b into a turning direction to assist with a turning maneuver.
- the robot 100 c further includes an articulated arm 800 disposed on the IPB 200 and configured to move relative to the IPB 200 .
- the articulated arm 800 may have five-degrees of freedom.
- the robot 100 b includes the articulated arm 800 disposed on the first end portion 210 of the IPB 200 .
- the articulated arm 800 extends between a proximal first end 810 rotatably coupled to the IPB 200 and a distal second end 820 .
- the articulated arm 800 and the counter-balance body 300 may cancel out any shifting in the CM of the robot 100 c in the forward or rearward direction along the fore-aft axis (x-axis), while still effectuating the CM of the robot 100 b shift downward closer to the ground surface 12 .
- the leg 400 includes the upper portion 500 and the lower portion 550 .
- the upper portion 500 of the leg 400 may be interchangeably referred to as a “first leg portion” and the lower portion 550 of the leg may be interchangeably referred to as a “second leg portion”.
- the upper portion 500 has a first end portion 510 and a second end portion 520 .
- the first end portion 510 includes the first end 410 of the leg 400 (e.g., the proximal end of the leg 400 ) proximate to the hip joint 412
- the second end portion 520 includes a second end 522 proximate to the knee joint 414 of the leg 400 .
- the upper portion 500 may define a length between the first end 410 associated with the first end portion 510 and the second end 522 associated with the second end portion 520 .
- a point of delineation separating the first and second end portions 510 , 520 of the upper portion 500 is at a midpoint between the first end 410 and the second end 522 , so that the first end portion 510 encompasses 50-percent of the length of the upper portion 500 and the second end portion 520 encompasses the remaining 50-percent of the length of the upper portion 500 .
- the point of delineation separating the first and second end portions 510 , 520 of the upper portion 500 is closer to one of the first end 410 or the second end 522 so that one of the first end portion 510 or the second end portion 520 extends along a larger portion of the length of the upper portion 500 than the other one of the first end portion 510 or the second end portion 520 .
- first end portion 510 extending from the first end 410 may encompass 90-, 80-, 70-, 60-, 40-, 30-, 20-, 10-percent of the length of the upper portion 500 while the second end portion 520 extending from the second end 522 may encompass the remaining 10-, 20-, 30-, 60-, 70-, 80-, 90-percent of the length of the upper portion 500 .
- the lower portion 550 has a first end portion 560 and a second end portion 570 .
- the first end portion 560 and the second end portion 570 may form a single, monolithic lower portion 550 .
- the first end portion 560 includes a first end 562 proximate to the knee joint 414 of the leg 400
- the second end portion 570 includes the second end 420 (e.g., the distal end of the leg 400 ) proximate to the ankle joint 422 of the leg 400 .
- the lower portion 550 may define a length between the first end 562 associated with the first end portion 560 and the second end 420 associated with the second end portion 570 .
- first end portion 560 extending from the first end 562 may encompass 90-, 80-, 70-, 60-, 40-, 30-, 20-, 10-percent of the length of the lower portion 550 while the second end portion 570 extending from the second end 420 may encompass the remaining 10-, 20-, 30-, 60-, 70-, 80-, 90-percent of the length of the lower portion 550 .
- a first robotic leg assembly includes a hip member 430 ( FIG. 6 B ) and the leg 400 having a first pulley 610 fixedly attached to the hip member 430 and defining a first axis of rotation R 1 .
- the first axis of rotation R 1 may be coaxial with or parallel to an axis of rotation of the hip joint 412 .
- the hip member 430 may simply be referred to as “hip”, and in some implementations, the hip member 430 is associated with the second end portion 220 of the IPB 200 ( FIGS. 1 A- 3 ).
- the first end portion 510 of the upper portion 500 is rotatably coupled to the hip and configured to rotate about the first axis of rotation R 1 .
- an axis of rotation of the first end portion 510 of the upper portion 500 may be concentric with the first axis of rotation R 1 defined by the first pulley 610 .
- the upper portion 500 may define a longitudinal axis L UP and the first axis of rotation R 1 may be perpendicular to the longitudinal axis L UP .
- the first axis of rotation R 1 may have any suitable configuration and orientation relative to the upper portion 500 and the hip joint 412 .
- the leg 400 includes a second pulley 620 rotatably coupled to the second end portion 520 of the upper portion 500 and fixedly attached to the first end portion 560 of the lower leg portion 550 .
- the second pulley 620 defines a second axis of rotation R 2 which may be coaxial with or parallel to an axis of rotation of the knee joint 414 .
- an axis of rotation of the first end portion 560 of the lower portion 550 may be concentric with the second axis of rotation R 2 of the second pulley 620 .
- the second axis of rotation R 2 may be perpendicular to the longitudinal axis L UP defined by the upper portion 500 .
- the second axis of rotation R 2 may have any suitable configuration and orientation relative to the upper portion 500 and the knee joint 414 .
- the first axis of rotation R 1 is parallel to the second axis of rotation R 2 .
- the first axis of rotation R 1 and the second axis of rotation R 2 are each perpendicular to the longitudinal axis L UP of the upper portion 500 and convergent to one another.
- the leg 400 includes a timing belt 630 trained about the first pulley 610 and the second pulley 620 for synchronizing rotation of the upper portion 500 about the first axis of rotation R 1 and rotation of the second pulley 620 about the second axis of rotation R 2 .
- the timing belt 630 may include teeth 632 ( FIG. 5 ) on an inner surface that engage with corresponding teeth 612 , 622 ( FIGS. 5 and 6 A ) on outer circumferential surfaces of the first pulley 610 and the second pulley 620 , respectively.
- the first pulley 610 may have twice as many teeth 612 as the second pulley 620 .
- the first pulley 610 may have sixty (60) teeth and the second pulley 620 may have thirty (30) teeth.
- the timing belt 630 may be formed of any suitable material, such as, for example, rubber, rubber with high-tensile fibers, polyurethane, or neoprene.
- the leg 400 may optionally include a belt tensioner 634 disposed on the upper portion 500 and in contact with the timing belt 630 .
- the belt tensioner 634 may be configured to adjustably set a tension of the timing belt 630 .
- the belt tensioner 634 may selectively increase or decrease the tension of the timing belt 630 .
- the belt tensioner 634 may be configured to set the tension of the timing belt 630 to a predetermined tension.
- the leg 400 may include an actuating device 600 , 600 a - b disposed at or near the hip joint 412 that is configured to drive rotation of the upper portion 500 of the leg 400 about the hip joint 412 to cause the upper portion 500 to move/pitch around the lateral axis (y-axis) relative to the IPB 200 ( FIGS. 1 - 3 ).
- the actuating device 600 includes a rotary electric motor 600 a arranged to drive rotation of the upper portion 500 about the first axis of rotation R 1 .
- the rotary electric motor 600 a may include an associated transmission (e.g., gearbox) 602 and may be mounted/attached to an exterior of the first end portion 510 of the upper portion 500 .
- the electric motor 600 a mounts proximate to the first pulley 610 .
- the electric motor 600 a defines a rotary axis R 3 which is arranged coincident to the first axis of rotation R 1 .
- the electric motor 600 a may include a rotor 604 arranged to rotate about the rotary axis R 3 and a stator 606 arranged concentrically around the rotor 604 .
- the rotor 604 may be attached to the first end portion 510 of the upper portion 500 and the stator 606 may be configured for attachment to the robot 100 , e.g., at the hip member 430 (IPB 200 ) of the robot 100 or at the first pulley 610 . That is, the rotor 604 may rotate relative to the IPB 200 of the robot 100 and the stator 606 may be fixed relative to the IPB 200 of the robot 100 .
- the stator 606 may be configured for attachment to the first end portion 510 of the upper portion 500 of the leg 400 .
- the electric motor 600 a forms the hip joint 412 by rotatably coupling the first end 410 of the leg 400 to the second end portion 220 of the IPB 200 to allow at least a portion (e.g., the upper portion 500 ) of the leg 400 to move/pitch around the lateral axis (y-axis) relative to the IPB 200 .
- the actuating device 600 includes a linear actuator 600 b disposed at or near the hip joint 412 that is configured to drive rotation of the upper portion 500 of the leg 400 about the hip joint 412 to cause the upper portion 500 to move/pitch around the lateral axis (y-axis) relative to the IPB 200 ( FIGS. 1 - 3 ).
- the rotatable coupling between the first end portion 510 of the upper portion 500 of the leg 400 and the first pulley 610 may rotatably couple the first end portion 510 of the upper portion 500 to the hip member 430 and the linear actuator 600 b may be disposed on the hip member 430 .
- the linear actuator 600 b may include a translatable actuator arm 652 pivotally coupled to the upper portion 500 (e.g., first leg portion) of the leg 400 .
- the linear actuator 600 b includes a first end 651 pivotally coupled to the hip member 430 at a first attachment point 432 and a second end 653 pivotally coupled to the upper portion 500 of the leg 400 at a second attachment point 512 .
- the translatable actuator arm 652 is slidably engaged to a cylinder 650 , that may define the first end 651 of the linear actuator 600 b pivotally coupled to the hip member 430 at the first attachment point 432 .
- the cylinder 650 may define a housing and the translatable actuator arm 652 may linearly translate/slide within the housing of the cylinder 650 such that a distal end of the translatable actuator arm 652 (i.e., the second end 653 of the linear actuator 600 b ) pivotally coupled to the upper portion 500 of the leg 400 moves between a retracted position and an extended position.
- the linear actuator 600 b may hydraulically, electrically, or pneumatically actuate the translatable actuator arm 652 .
- the linear actuator 600 b may use other means of actuation as well.
- the hip member 430 is associated with the second end portion 220 of the IPB 200 .
- actuation of the translatable actuator arm 652 of the linear actuator 600 b causes rotation of the upper portion 500 about the first axis of rotation R 1 , thereby enabling the upper portion 500 to move/pitch around the lateral axis (y-axis) relative to the first pulley 610 and the hip member 430 (and the IPB 200 ).
- the lower portion 550 of the leg 400 optionally includes a coupler 572 attached to the first end portion 560 at or near the first end 562 .
- the coupler 572 may pivotally couple the lower portion 550 of the leg 400 to the upper portion 500 of the leg 400 to form the knee joint 414 .
- the coupler 572 may enable the lower portion 550 to rotate relative to the upper portion 500 by fixedly attaching the first end portion 560 of the lower portion 550 to the second pulley 620 , whereby the second pulley 620 is rotatably coupled to the second end portion 520 of the upper portion 500 .
- FIGS. 7 A- 7 D show schematic views of the variable length leg 400 prismatically moving between a fully extended position, as shown in FIG. 7 A , and a fully retracted position, as shown in FIG. 7 D .
- the actuating device 600 prismatically retracts the length of the leg 400 by rotating the corresponding upper portion 500 relative to the IPB 200 in a counterclockwise direction to cause the corresponding lower portion 550 to rotate about the knee joint 414 relative to the upper portion 500 in the clockwise direction (relative to the view of FIGS. 7 A- 7 D ).
- the timing belt 630 FIG.
- the actuating device 600 prismatically expands the length of the leg 400 by rotating the corresponding upper portion 500 relative to the IPB 200 in the clockwise direction to cause the corresponding lower portion 550 to rotate about the knee joint 414 relative to the upper portion 500 in the counterclockwise direction (relative to the view of FIGS. 7 A- 7 D ).
- the timing belt 630 may include a continuous loop extending along the upper portion 500 of each leg 400 or may include terminal ends each connected to a respective one of the first pulley 610 and the second pulley 620 . While the schematic views of FIGS. 7 A- 7 D show the linear actuator 600 b of FIG. 6 B controlling actuation of the leg 400 , the rotary electric motor 600 a of FIG. 6 A may control actuation of the leg 400 to prismatically retract/expand without departing from the scope of the present disclosure.
- the linear actuator 600 b may retract the translatable actuator arm 652 to cause the upper portion 500 to rotate in the counterclockwise direction and the lower portion 550 to rotate about the knee joint 414 relative to the upper portion 500 in the clockwise direction.
- the rotation by the upper portion 500 about the hip joint 412 (e.g., the first axis of rotation R 1 ) in the counterclockwise direction causes the second pulley 620 to rotate about the second axis of rotation R 2 in the clockwise direction, thereby causing the lower portion 550 of the leg to rotate about the knee joint 414 relative to the upper portion 500 in the clockwise direction.
- the first pulley 610 may remain substantially static or fixed relative to the timing belt 630 when the upper portion 500 rotates about the hip joint 412 .
- the second pulley 620 may rotate relative to the timing belt 630 in a direction opposite to a direction the upper portion 500 rotates about the hip joint 412 .
- the teeth 632 on the timing belt 630 may be engaged with the same corresponding teeth 612 on the first pulley 610 as the upper portion 500 rotates about the hip joint 412 , whereas, the teeth 632 on the timing belt 630 may engage with different corresponding teeth 622 on the second pulley 620 as the upper portion 500 rotates about the hip joint 412 , thereby causing the second pulley 620 to rotate relative to the timing belt 630 to cause the rotation of the lower portion 550 about the knee joint 414 .
- the linear actuator 600 b may further retract the translatable actuator arm 652 to cause the upper portion 500 to rotate further about the hip joint 412 relative to the IPB 200 in the counterclockwise direction and the lower portion 550 to rotate further about the knee joint 414 relative to the upper portion 500 in the clockwise direction.
- the second intermediate position ( FIG. 7 C ) to the fully retracted position ( FIG.
- a line extending through the first axis of rotation R 1 and an axis of rotation of the drive wheel 700 disposed at the second end 420 of the leg 400 may be substantially parallel to the vertical gravitational axis V g in all positions between and including the fully expanded position ( FIG. 7 A ) and the fully retracted position ( FIG. 7 D ).
- the at least one leg 400 may include a single link that prismatically extends/retracts linearly such that the second end 420 of the leg 400 prismatically moves away/toward the IPB 200 along a linear rail.
- the at least one leg 400 includes a prismatic leg having the first end 410 prismatically coupled to the second end portion 220 of the IPB 200 and configured to provide prismatic extension/retraction via actuation of the actuating device 600 in corresponding first or second directions.
- the timing belt 630 remains trained about the first pulley 610 and the second pulley 620 . However, as the first pulley 610 rotates about the first axis of rotation R 1 in the second robotic leg assembly, the rotation of the first pulley 610 drives the timing belt 630 , thereby enabling the timing belt 630 to synchronize rotation of the first pulley 610 first axis of rotation R 1 and rotation of the second pulley 620 about the second axis of rotation R 2 .
- the second robotic leg assembly includes the coupler 572 pivotally coupling the lower portion 550 of the leg 400 to the upper portion 500 of the leg 400 to form the knee joint 414 .
- the coupler 572 may enable the lower portion 550 to rotate relative to the upper portion 500 by fixedly attaching the first end portion 560 of the lower portion 550 to the second pulley 620 , whereby the second pulley 620 is rotatably coupled to the second end portion 520 of the upper portion 500 .
- the coupler 572 rotates about the second axis of rotation R 2 (or alternatively an axis of rotation parallel to the second axis of rotation R 2 ) in a direction opposite the second pulley 620 , e.g., as the second pulley 620 rotates in one of a clockwise or counterclockwise direction, the coupler 572 rotates in the other one of the clockwise direction or the counterclockwise direction.
- the actuators 108 of the control system 10 further include the actuating devices 600 .
- the controller 102 may instruct actuation of the actuating devices 600 to prismatically extend or retract a length of a respective prismatic leg 400 by causing an upper portion 500 of the prismatic leg 400 to rotate about the corresponding hip joint 412 and a lower portion 550 of the prismatic leg 400 to rotate about the corresponding knee joint 414 relative to the corresponding upper portion 500 .
- non-volatile memory examples include, but are not limited to, flash memory and read-only memory (ROM)/programmable read-only memory (PROM)/erasable programmable read-only memory (EPROM)/electronically erasable programmable read-only memory (EEPROM) (e.g., typically used for firmware, such as boot programs).
- volatile memory examples include, but are not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), phase change memory (PCM) as well as disks or tapes.
- implementations of the systems and techniques described herein can be realized in digital electronic and/or optical circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof.
- ASICs application specific integrated circuits
- These various implementations can include implementation in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
- the processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output.
- the processes and logic flows can also be performed by special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).
- processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer.
- a processor will receive instructions and data from a read only memory or a random access memory or both.
- the essential elements of a computer are a processor for performing instructions and one or more memory devices for storing instructions and data.
- a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks.
- mass storage devices for storing data
- a computer need not have such devices.
- Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto optical disks; and CD ROM and DVD-ROM disks.
- the processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.
- one or more aspects of the disclosure can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touch screen for displaying information to the user and optionally a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer.
- a display device e.g., a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touch screen for displaying information to the user and optionally a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer.
- Other kinds of devices can be used to provide interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input
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Abstract
Description
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KR102280934B1 (en) * | 2019-01-02 | 2021-07-26 | 엘지전자 주식회사 | Serving module and robot with same |
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EP4344988A1 (en) * | 2022-09-29 | 2024-04-03 | Morra, Alessandro | Robotic vehicle |
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US20200290217A1 (en) | 2020-09-17 |
US11077566B2 (en) | 2021-08-03 |
US20210331333A1 (en) | 2021-10-28 |
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